CN110131380A - Harmonic reducer and robot - Google Patents
Harmonic reducer and robot Download PDFInfo
- Publication number
- CN110131380A CN110131380A CN201910504123.1A CN201910504123A CN110131380A CN 110131380 A CN110131380 A CN 110131380A CN 201910504123 A CN201910504123 A CN 201910504123A CN 110131380 A CN110131380 A CN 110131380A
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- cam
- speed reducer
- harmonic speed
- mesh regional
- long axis
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 32
- 238000012937 correction Methods 0.000 claims description 3
- 230000007704 transition Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000007373 indentation Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention provides a harmonic reducer and a robot. The harmonic reducer comprises a cam, wherein a flexible bearing is sleeved on the outer edge of the cam, the cross section of the cam is oval, the oval is provided with a long axis, two ends of the long axis respectively correspond to a first meshing area and a second meshing area, the outer edge molded line of the cam in the first meshing area is formed by a polar coordinate equationDefining, and/or the profile of the outer edge of the cam in the second engagement region from the polar equationWhere d is the inner bore diameter of the compliant bearing, ω0δ is an incremental deformation for the coefficient of deformation, δ being greater than 0 at the respective location of the first engagement region and/or the second engagement region. According to the harmonic reducer and the robot, the cam profile is defined by adopting the polar coordinate equation with increment, so that the meshing tooth number of the flexible gear and the rigid gear is increased, and the meshing stress at the meshing tooth position of the flexible gear is reduced.
Description
Technical field
The invention belongs to robot building technical fields, and in particular to a kind of harmonic speed reducer, robot.
Background technique
Harmonic speed reducer is mainly made of firm gear, flexbile gear and wave producer, and flexbile gear generates bullet under the action of wave producer
Property deformation, and with firm gear interact, the difference in the number of teeth due to flexbile gear and firm gear, thus realize harmonic speed reducer deceleration pass
Dynamic function.Wave producer is made of cam and flexible bearing, and flexible bearing is to reduce rubbing for cam and flexbile gear relative motion
It wipes, sliding friction is made to become rolling friction, so, final decision deformation of flexible wheel shape is cam face namely cam outer rim type
Line.
About cam outer rim molded line, research worker before this is it is proposed that pressThe deformation shape of rule
Shape, by elliptical deformed shape, the deformed shape being made of involute section；By the circular ring shape to deform under the effect of concentrated force system
Shape etc..
Cosine cam, i.e. deflection areCam, cosine cam profile is by polar equation below
Definition:
Wherein, d is the diameter of bore of flexible bearing, ω0For coefficient of indentation.
The characteristics of above-mentioned cosine cam profile, it is that flexbile gear maximum radial deflection and least amount of deformation can be made equal,
But the logarithm of flexbile gear and firm gear engaging tooth is less, and it is larger that flexbile gear engages stress, thus will affect the bearing capacity of harmonic speed reducer,
Shorten the service life of harmonic speed reducer.
Summary of the invention
Therefore, the technical problem to be solved in the present invention is that a kind of harmonic speed reducer, robot are provided, using with increment
Polar equation define cam profile, increase flexbile gear and the total number of teeth in engagement of firm gear, reduce the engagement at flexbile gear engaging tooth
Stress.
To solve the above-mentioned problems, the present invention provides a kind of harmonic speed reducer, including cam, the outer rim suit of the cam
Flexible bearing, the cross section of the cam is in ellipse, and described oval with long axis, the both ends of the long axis respectively correspond first
Mesh regional and the second mesh regional, the outer rim molded line of the cam of first mesh regional is by polar equationDefinition, and/or, the outer rim molded line of the cam of second mesh regional is sat by pole
Mark equationDefinition, wherein d is the diameter of bore of the flexible bearing, ω0For deflection system
Number, δ are incremental deformation, and δ is greater than 0 in the corresponding position of first mesh regional and/or second mesh regional.
Preferably, described oval with the short axle orthogonal with the long axis, polar coordinate system Ox is established, the long axis and x are made
Overlapping of axles, the long axis are overlapped with the intersection point of the short axle with pole O, in first mesh regionalValue range be [-
π/4, π/4], and/or, in second mesh regionalValue range be [3 π/4,5 π/4].
Preferably, describedν is increment correction factor；
Preferably, the value range of v is [0.001,0.125].
Preferably, the outer rim molded line of the cam is by polar equationWherein
Value range be [0,2 π].
Preferably, connection is interference fitted between the flexible bearing and the cam.
Preferably, the harmonic speed reducer further includes flexbile gear, and the flexbile gear is set in the outside of the flexible bearing, described
Transition fit connects between flexbile gear and the flexible bearing.
The present invention also provides a kind of robots, including above-mentioned harmonic speed reducer.
A kind of harmonic speed reducer provided by the invention, robot, targetedly by corresponding to the cam in described first
Existing in the polar equation of the outer rim molded line of mesh regional or the outer rim molded line corresponding to second mesh regional
On the basis of cosine cam profile increase by one be greater than 0 increment, that is, make to a certain extent first mesh regional or
The long axis of cam at the second mesh regional of person is elongated, and cam outer rim molded line is fuller, and then makes engaging for flexbile gear and firm gear
Depth increase, the quantity increase for the tooth that can be engaged, this can undoubtedly disperse tooth engagement stress, and then be able to ascend the harmonic wave
The bearing capacity of retarder, prolongs its service life.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the harmonic speed reducer of the embodiment of the present invention；
Fig. 2 is the shape using flexbile gear and firm gear engagement place when cam and traditional cosine cam in the prior art of the invention
State schematic diagram.
Appended drawing reference indicates are as follows:
1, cam；2, flexible bearing；3, flexbile gear；4, firm gear；3 ', matching flexbile gear when traditional cosine cam.
Specific embodiment
In conjunction with referring to shown in Fig. 1 to Fig. 2, according to an embodiment of the invention, a kind of harmonic speed reducer is provided, including cam 1,
The outer rim of the cam 1 is set with flexible bearing 2, further includes flexbile gear 3, and the flexbile gear 3 is set in the outer of the flexible bearing 2
Side, transition fit connects between the flexbile gear 3 and the flexible bearing 2, and the outside of the flexbile gear 3 is additionally provided with firm gear 4, described
Firm gear 4 and 3 opposite side of flexbile gear are equipped with multiple teeth, and the engagement of the multiple toothed portion is defeated by the cam 1 to realize
Power transmission out is transferred to control object to the firm gear 4 and eventually by the firm gear 4, and the cross section of the cam 1 is in
Ellipse, described oval with long axis, the both ends of the long axis respectively correspond the first mesh regional and the second mesh regional, Ke Yili
Solution, described oval with short axle, the both ends of the short axle respectively correspond third region and the fourth region, first engagement
Region, third region, third mesh regional, the fourth region are sequentially in the firm gear 4 and the side with teeth of flexbile gear 3, it is believed that
To constitute the outer rim side of the inner hole circumferential surface or the flexbile gear 3 of the firm gear 4, further, the firm gear 4 with it is described soft
Wheel 3 realizes tooth engagement in first mesh regional or the second mesh regional, and the third region, the fourth region then not
There are tooth engagements namely first mesh regional and second mesh regional to constitute the workspace of the harmonic speed reducer
Between region, the outer rim molded line of the cam 1 of first mesh regional is by polar equation
Definition, and/or, the outer rim molded line of the cam 1 of second mesh regional
By polar equationDefinition, wherein d is the diameter of bore of the flexible bearing 2, ω0For
Coefficient of indentation, δ are incremental deformation, and δ is greater than in the corresponding position of first mesh regional and/or second mesh regional
0.In the technical solution, targetedly by the outer rim molded line or correspondence corresponding to the cam 1 in first mesh regional
Increase by one on the basis of existing cosine cam profile in the polar equation of the outer rim molded line of second mesh regional
It is a to be greater than 0 increment, that is, making the cam 1 at first mesh regional or the second mesh regional to a certain extent
Long axis is elongated, and cam outer rim molded line is fuller, and then increases the depth of engagement of flexbile gear 3 and firm gear 4, the tooth that can engage
Quantity increases, this can undoubtedly disperse tooth engagement stress, and then be able to ascend the bearing capacity of the harmonic speed reducer, extend it
Service life.
In order to keep technical solution of the present invention more explicit, the ellipse has the short axle orthogonal with the long axis,
Polar coordinate system Ox to be established, the long axis is coincidented with x axis, the long axis is overlapped with the intersection point of the short axle with pole O, and described
In one mesh regionalValue range be [- π/4, π/4], and/or, in second mesh regionalValue range be [3
π/4,5 π/4], here byValue first mesh regional and the second mesh regional are clearly divided, can
Processing of the guidance scene to the cam outer rim molded line.
Further, describedν be increment correction factor namely this
When the cam outer rim molded line by polar equation Definition, v
Value range be [0.001,0.125].
Certainly, for convenience to the processing of the outer rim molded line of the cam 1, it is preferable that the outer rim molded line of the cam 1 by
Polar equationWhereinValue range be [0,2 π], that is, using single herein
Polar equation defines processing to the outer rim molded line of the cam 1, prevents segmented outer rim curved dies above-mentioned institute band
The cumbersome problem of the processing molded line come.
Interference fit connection keeps the cam 1 opposite with flexible bearing 2 between the flexible bearing 2 and the cam 1
The relatively reliable stabilization in position prevents relative position variation between the two from adversely affecting to the harmonic speed reducer.
Giving in Fig. 2 makes phase with using cosine cam profile traditional in the prior art using cam profile of the invention
The depth of engagement of the flexbile gear and firm gear answered, specifically, in Fig. 2 using cam profile of the invention the first mesh regional (or
Second mesh regional, the two symmetrically exist) at firm gear 4 and flexbile gear 3 the depth of engagement be greater than it is convex using cosine in the prior art
Take turns the depth of engagement of molded line firm gear 4 and flexbile gear 3 ' at the first mesh regional.And technical solution of the present invention is used in order to verify
The situation of change of tooth contact stress between flexbile gear 3 and firm gear 4, inventor is to the corresponding existing deceleration using cosine cam profile
Device and retarder of the invention are using simulation software progress modeling and simulating, the results show that subtracting using existing cosine cam profile
Fast device, flexbile gear tooth stress average are 195MPa, and flexbile gear tooth peak stress is 328MPa, and uses outer rim molded line of the invention convex
The retarder of wheel, flexbile gear tooth stress average are 108MPa, and flexbile gear tooth peak stress is 248MPa, it is seen then that using of the invention
Technical solution can be effectively reduced soft gear tooth stresses, namely can reduce the tooth engagement stress of flexbile gear and firm gear, be promoted described humorous
The bearing capacity of wave retarder.Certainly, aforementioned modeling is with the outer rim molded line of the cam by polar equationThe value range of v be [0.001,0.125] andValue range
It is the modeling for inputting parameter and carrying out for [0,2 π].
According to an embodiment of the invention, a kind of robot is also provided, including above-mentioned harmonic speed reducer, specifically, described
Harmonic speed reducer is arranged at the turning joint of the robot.
Those skilled in the art will readily recognize that above-mentioned each advantageous manner can be free under the premise of not conflicting
Ground combination, superposition.
The above is merely preferred embodiments of the present invention, be not intended to limit the invention, it is all in spirit of the invention and
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within principle.Above only
It is the preferred embodiment of the present invention, it is noted that for those skilled in the art, do not departing from this hair
Under the premise of bright technical principle, several improvements and modifications can also be made, these improvements and modifications also should be regarded as guarantor of the invention
Protect range.
Claims (8)
1. the outer rim of harmonic speed reducer, including cam (1), the cam (1) is set with flexible bearing (2), which is characterized in that institute
The cross section of cam (1) is stated in ellipse, it is described it is oval there is long axis, the both ends of the long axis respectively correspond the first mesh regional and
Second mesh regional, the outer rim molded line of the cam (1) of first mesh regional is by polar equationDefinition, and/or, the outer rim molded line of the cam (1) of second mesh regional is by pole
Equation in coordinatesDefinition, wherein d is the diameter of bore of the flexible bearing (2), ω0To become
Shape coefficient of discharge, δ are incremental deformation, and δ is greater than 0 in the corresponding position of first mesh regional and/or second mesh regional.
2. harmonic speed reducer according to claim 1, which is characterized in that it is described it is oval have it is orthogonal with the long axis short
Axis establishes polar coordinate system Ox, coincidents with x axis the long axis, and the long axis is overlapped with the intersection point of the short axle with pole O, institute
It states in the first mesh regionalValue range be [- π/4, π/4], and/or, in second mesh regionalValue range
For [3 π/4,5 π/4].
3. harmonic speed reducer according to claim 1, which is characterized in that described ν is increment correction factor.
4. harmonic speed reducer according to claim 3, which is characterized in that the value range of v is [0.001,0.125].
5. harmonic speed reducer according to claim 3, which is characterized in that the outer rim molded line of the cam (1) is by polar coordinates side
JourneyWhereinValue range be [0,2 π].
6. harmonic speed reducer according to claim 1, which is characterized in that the flexible bearing (2) and the cam (1) it
Between be interference fitted connection.
7. harmonic speed reducer according to claim 6, which is characterized in that it further include flexbile gear (3), flexbile gear (3) suit
Transition fit is connect between the outside of the flexible bearing (2), the flexbile gear (3) and the flexible bearing (2).
8. a kind of robot, including harmonic speed reducer, which is characterized in that the harmonic speed reducer is any in claim 1 to 7
Harmonic speed reducer described in.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910504123.1A CN110131380B (en) | 2019-06-11 | 2019-06-11 | Harmonic reducer and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910504123.1A CN110131380B (en) | 2019-06-11 | 2019-06-11 | Harmonic reducer and robot |
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| Publication Number | Publication Date |
|---|---|
| CN110131380A true CN110131380A (en) | 2019-08-16 |
| CN110131380B CN110131380B (en) | 2024-03-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910504123.1A Active CN110131380B (en) | 2019-06-11 | 2019-06-11 | Harmonic reducer and robot |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5662008A (en) * | 1993-08-30 | 1997-09-02 | Teijin Seiki Boston, Inc. | Extended contact harmonic drive devices |
| CN101029681A (en) * | 2006-02-28 | 2007-09-05 | 杨光笋 | Dual-wave reducer of cosine tooth outline linear wheel |
| CN104565219A (en) * | 2013-10-29 | 2015-04-29 | 上银科技股份有限公司 | Harmonic type reducing mechanism |
| CN109707821A (en) * | 2019-01-30 | 2019-05-03 | 成都瑞迪机械科技有限公司 | Wave producer and harmonic wave speed reducing machine with the wave producer |
| CN210371900U (en) * | 2019-06-11 | 2020-04-21 | 珠海格力电器股份有限公司 | Harmonic reducer and robot |
-
2019
- 2019-06-11 CN CN201910504123.1A patent/CN110131380B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5662008A (en) * | 1993-08-30 | 1997-09-02 | Teijin Seiki Boston, Inc. | Extended contact harmonic drive devices |
| CN101029681A (en) * | 2006-02-28 | 2007-09-05 | 杨光笋 | Dual-wave reducer of cosine tooth outline linear wheel |
| CN104565219A (en) * | 2013-10-29 | 2015-04-29 | 上银科技股份有限公司 | Harmonic type reducing mechanism |
| CN109707821A (en) * | 2019-01-30 | 2019-05-03 | 成都瑞迪机械科技有限公司 | Wave producer and harmonic wave speed reducing machine with the wave producer |
| CN210371900U (en) * | 2019-06-11 | 2020-04-21 | 珠海格力电器股份有限公司 | Harmonic reducer and robot |
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| Publication number | Publication date |
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| CN110131380B (en) | 2024-03-26 |
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